75 citations · 445 across the 63 of their papers we have counts for
67 papers
Graph-Based Heuristics for Minimum Constraint Removal in Cluttered Robot Motion Planning
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
Humanoid and service robots operating in clut- tered human environments may encounter motion planning problems that are infeasible when all surrounding objects are treated as fixed…
On Representational Alignment among Embodied Agents
Fulvio Mastrogiovanni
Embodied agents interacting with the same physical process may maintain heterogeneous, asynchronous, and observer-relative representations. Rather than assuming that such represent…
A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation
Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni +2
In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning perspective. The problem involves determining a feasible path to a goa…
Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stag…
A Framework for Task and Motion Planning based on Expanding AND/OR Graphs
Fulvio Mastrogiovanni, Antony Thomas
Robot autonomy in space environments presents unique challenges, including high perception and motion uncertainty, strict kinematic constraints, and limited opportunities for human…
Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLM
Nicholas Attolino, Alessio Capitanelli, Fulvio Mastrogiovanni
PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan…
A Task and Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we lev…
An Incremental Sampling and Segmentation-Based Approach for Motion Planning Infeasibility
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to…
The Effects of Selected Object Features on a Pick-and-Place Task: a Human Multimodal Dataset
Linda Lastrico, Valerio Belcamino, Alessandro Carfì +4
We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by vario…
Learning Symbolic Task Representation from a Human-Led Demonstration: A Memory to Store, Retrieve, Consolidate, and Forget Experiences
Luca Buoncompagni, Fulvio Mastrogiovanni
We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representation…
OWLOOP: Interfaces for Mapping OWL Axioms into OOP Hierarchies
Luca Buoncompagni, Fulvio Mastrogiovanni
The paper tackles the issue of mapping logic axioms formalised in the Ontology Web Language (OWL) within the Object-Oriented Programming (OOP) paradigm. The issues of mapping OWL a…
Incremental Bootstrapping and Classification of Structured Scenes in a Fuzzy Ontology
Luca Buoncompagni, Fulvio Mastrogiovanni
We foresee robots that bootstrap knowledge representations and use them for classifying relevant situations and making decisions based on future observations. Particularly for assi…
Digital Twins for Human-Robot Collaboration: A Future Perspective
Mohamad Shaaban, Alessandro Carfì, Fulvio Mastrogiovanni
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of phys…
Expressing and Inferring Action Carefulness in Human-to-Robot Handovers
Linda Lastrico, Nuno Ferreira Duarte, Alessandro Carfì +4
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit c…
RICO-MR: An Open-Source Architecture for Robot Intent Communication through Mixed Reality
Simone Macciò, Mohamad Shaaban, Alessandro Carfì +2
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been devel…
In-hand manipulation planning using human motion dictionary
Ali Hammoud, Valerio Belcamino, Alessandro Carfi +2
Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These cons…
Safe motion planning with environment uncertainty
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that acc…
Revisiting the Minimum Constraint Removal Problem in Mobile Robotics
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collis…
Embodiment perception of a smart home assistant
Mariya Kilina, Tommaso Elia, Syed Yusha Kareem +2
Demographic growth and rise in the average age of the population is increasing the demand for the elderly assistance. Health care oriented ambient intelligence technologies are fun…
A Framework for Neurosymbolic Robot Action Planning using Large Language Models
Alessio Capitanelli, Fulvio Mastrogiovanni
Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic…
Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation
Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni +1
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by…
An Ergonomic Role Allocation Framework for Dynamic Human-Robot Collaborative Tasks
Elena Merlo, Edoardo Lamon, Fabio Fusaro +4
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal diso…
If You Are Careful, So Am I! How Robot Communicative Motions Can Influence Human Approach in a Joint Task
Linda Lastrico, Nuno Ferreira Duarte, Alessandro Carfì +4
As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally…
Robots with Different Embodiments Can Express and Influence Carefulness in Object Manipulation
Linda Lastrico, Luca Garello, Francesco Rea +4
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and…